Delta Airlines flight 462 left for Atlanta and was driving a taxi when the accident occurred.
Authorities with Delta said a party of two opened the door and exited through the slide with a service dog.
The aircraft then returned to the gate where other passengers were disembarked and put on alternate flights.
The aircraft was checked after maintenance by maintenance technicians before returning to service.
The passengers were later identified as 31-year-old Antonio Murdock of Florida and 23-year-old Brian Greco.
Officials say Murdock claimed that the post traumatic stress prompted him and his female companion to grab their service dog and jump down the emergency slide.
Murdock is charged with second-degree criminal mischief, second-degree reckless endangerment, and third-degree criminal trespass, while Greco is charged with third-degree criminal trespass.
The small dog, named Ren, was changed to Animal Care and Control and expected to be returned to its owner.
Murdock claimed that a previous robbery at the Jail PTSD was triggered due to limited space on the plane.
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